A LIGHTWEIGHT FRAMEWORK OF R-LATS FOR LARGE-SCALE APPLICATION

Rotate laser automatic theodolite system (R-LATs) is a distributed larger volume metrology system. With considering its excellent parallel measurement capability and the adaptive expansion of measureable space, R-LATs has a good prospect in large scale application, e.g. as a space measurement solution for an entire factory room to fix the spatial coordinate measurement, AGV navigation, and large component alignment etc. However, in large application scenario, where multiple theodolites are adopted, the photosensors suffer heavy working load in distinguishing the theodolite of each fan laser. It seriously restricts the real-time character, raises the probability of wrong signal generation, and degrades the work performance of RLATs distinctly. To overcome this bottleneck, this paper proposed a lightweight framework for R-LATs to lighten the work load of photosensor in distinguishing the theodolites. Firstly, the working principle of R-LATs and the visibility of theodolite were introduced. Then, the whole frame work of R-LATs was designed in three aspects to relieve the work load of photosensor, i.e. topological network construction for entire R-LAT, data structure design for both compute terminal and photosensor, and the dynamic schedule of the data process unit for entire R-LATs. At last, by simulating AVG navigation in a large scale application of R-LATs, the effectiveness of this paper was proofed by comparing the computational loads with traditional configuration.